There is a flaw in the test suite. It tests the values in rpy2r rather than the results rpy from the solver's function. Also, the tolerance needs to be widened a bit.
Actually that's not a flaw, William. Since it is not always possible to determine the exact three original angles. In the second test case for instance, there are infinite solutions due to a singularity. Therefore, he tests the rotation matrix since it will be equal for all possible solutions.
It's interesting that a precision error allows you to recover the original angles: atan2(cos(pi/2)*sin(pi/3),cos(pi/2)*cos(pi/3)) amazingly returns pi/3, which obviously should not be true since atan2(0,0) = 0 (?). The issue seems to be that cos(pi/2) is not zero (due to an approximation error), but just a really small value close to zero.
Back to basics 15 - classes
Convert a vector into a number
Converting numbers back from extended form
Relative points in 2D: problem 2
Pose from bearing angles in 2D
Orientation of a 3D coordinate frame
Twists in 2D
Invert a 3D rigid-body transformation
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